Quick Start

Compiling tests passed on ubuntu 18.04 and 20.04 with ros installed. You can just execute the following commands one by one.

git clone https://github.com/ZJU-FAST-Lab/3D2M-planner.git
cd 3D2M-planner/planner
catkin_make -DCMAKE_BUILD_TYPE=Release -j1
source devel/setup.bash
sh exp1.sh

Then you can use the 3D goal tool to operate. If you find this work useful or interesting, please kindly give us a star ⭐, thanks!😀

3D2M-planner

This is the related repository of paper \textbf{Towards Efficient Trajectory Generation for Ground Robots beyond_2D Environment}. The repository contains the planner ros workspace and a unity project for verification. The planner enables global planning of ground robots in complex, multi-layered structural environments and allows joint planning of additional vertical degrees of freedom.

Video Links: bilibili (for Mainland China)

Standard Compilation

Requirements: ubuntu 18.04 or 20.04 with ros-desktop-full installation.

Step 1.

Step 2. Clone the code from github.

git clone https://github.com/ZJU-FAST-Lab/3D2M-planner.git

Step 3. Compile.

cd 3D2M-planner/planner
catkin_make -DCMAKE_BUILD_TYPE=Release -j1

If you don't add "-j1", it may report an error while compiling, just compile it again.

Step 4. Run.

There are four quick start scripts：exp1.sh , exp2.sh, exp1_unity.sh, exp2_unity.sh

In exp1.sh, the robot is a four-wheel differential car.

If you are using unity to simulate, please run exp1_unity.sh.

In exp2.sh, the robot is a differential car with a one-degree-of-freedom arm.

Similarly, run exp2_unity.sh instead when using unity.

For example,

source devel/setup.bash
sh exp1.sh

To be continued..